Personal Augmentation Suit and Method for Assisted Human Motion with Back Differential Assembly

ABSTRACT

A human motion assistance device has upper back straps and is configured to attach to a user. A leg strap arrangement with lower back straps is configured to attach to the user. A differential assembly is connected between the upper back straps and lower back straps to reduce resistance of the upper torso harness and leg strap arrangement during gait. When crouching or lifting, the differential assembly transfers force to stretch and retract the upper torso harness and leg strap arrangement, which provides human motion assistance. The differential assembly can be implements as an x-bar, lever arm, pulley, gears, or tube. The leg strap arrangement has a knee pad adapted to cover a knee of the user. The knee pad opens along a segment. The upper torso harness has a shoulder strap and buckle. The leg strap arrangement is an elastic material.

CLAIM TO DOMESTIC PRIORITY

The present application is a continuation of U.S. patent applicationSer. No. 16/801,341, filed Feb. 26, 2020, which claims the benefit ofU.S. Provisional Application No. 62/811,447, filed Feb. 27, 2019, whichapplications are incorporated herein by reference.

FIELD OF THE INVENTION

The present invention relates in general to a human assistance device,and more particularly, to a personal augmentation suit and method forassisted human motion with a differential assembly on the back of thesuit.

BACKGROUND OF THE INVENTION

A variety of human assistance devices provide aid for human motion. Somework tasks and activities demand frequent and heavy lifting or long-termstrenuous movement, beyond normal unassisted physical exertion, and canlead to exhaustion and potential injury. In particular, excessive strainon muscles and joints can cause injury to the back, legs, and knees withassociated reduction in productivity. The human assistance device asworn by the user is designed to overcome or compensate for the addedload or strain and make many work tasks easier to perform.

In one embodiment, the human assistance device uses an exoskeleton withrigid components e.g., linkages and joints, attached to the user's body.The exoskeleton joints are positioned to have an axis of rotationcollinear with a natural axis of rotation for adjacent joints. The rigidexoskeleton relies on a framework of linkages connected to the body atselect locations via pads and straps to provide the ability to augmenthuman movements that need assistance or otherwise enhance the user'sperformance, stability, balance, and safety. As the user flexes orextends his limbs, these rigid links move in parallel with the limb,adding considerable inertia to the movement. Unfortunately, the rigidexoskeleton also causes considerable restriction to the user's motionthat impedes natural and fluid movement.

In another example, U.S. patent publication 2015/0321339 discloses asoft exosuit that generates forces about one or more joints based onanchor elements and connection elements disposed between the anchorelements. The exosuit uses sensors to determine forces on the anchor orconnection elements. Actuators are configured to change tension in thesoft exosuit in response to the sensors. The exosuit tends to be complexwith an overreliance on active components, such as sensors andactuators, to control its operation. The intricate interconnection ofanchor elements, connection elements, sensors, and actuators tend to beexpensive to manufacture, difficult to configure, slow in response, andoverall low reliability.

The soft exosuit can be worn for long periods of time. The usertypically performs a variety of functions while wearing the exosuit,including crouching, lifting, and walking. During gait, the movement ofthe legs tends to stretch the exosuit and impart resistance on the user,even when not in a lifting action. The resistance caused by gait can beuncomfortable for the user, particularly when wearing the exosuit forlong periods of time.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1 a-1 c illustrate a user wearing a passive P2K suit;

FIG. 2 illustrates the passive P2K suit with the split knee pads andangle straps in the open position;

FIGS. 3 a-3 c illustrate the passive P2K suit activated to assist withlifting a load;

FIG. 4 illustrates further detail of the torso harness with adifferential assembly;

FIGS. 5 a-5 c illustrate the differential assembly during a lift andgait;

FIGS. 6 a-6 c illustrate the differential assembly implemented with alever arm;

FIG. 7 illustrates the differential assembly implemented with a pulley;

FIG. 8 illustrates the differential assembly implemented with gears;

FIG. 9 illustrates the differential assembly implemented with a tube;and

FIGS. 10 a-10 c illustrate the passive P2K suit with the differentialassembly and buckles around the leg straps.

DETAILED DESCRIPTION OF THE DRAWINGS

The present invention is described in one or more embodiments in thefollowing description with reference to the figures, in which likenumerals represent the same or similar elements. While the invention isdescribed in terms of the best mode for achieving the invention'sobjectives, those skilled in the art will appreciate that thedescription is intended to cover alternatives, modifications, andequivalents as may be included within the spirit and scope of theinvention as defined by the appended claims and their equivalents assupported by the following disclosure and drawings.

FIG. 1 a shows user 100 wearing potential to kinetic suit (P2K) 102suitable for human assistance in crouching, kneeling, squatting, andlifting under load, as well as normal gait without resistance ordiscomfort. P2K 102 is a passive personal augmentation suit or strappingsystem, i.e., no active components, applicable to many types of humanactivity and physical work, such as moving heavy articles, up and downmotion under load, and other repetitive, long-term physical exertion.P2K 102 is capable of storing potential energy in the strappingarrangement, e.g., potential energy is stored in elastic strapping whentransitioning from a standing position to a crouched, kneeling,squatting, or seated position. The potential energy in P2K 102 isreleased when user 100 returns upright in stance, thereby assisting theuser in the motion, particularly while under load. P2K 102 increasesendurance, reduces fatigue, and decreases potential for injuryassociated with such activity, particularly for the user's back, legs,and knees. P2K 102 includes an interconnected arrangement of straps,belts, and braces to provide passively loaded support and reaction foruser 100, while assisting with human motion under load. P2K 102 furtherincludes a back-mounted differential assembly to enable normal gait foruser 100, without resistance or discomfort from the suit. FIG. 1B showsa side view of P2K 102; FIG. 1 c shows a back view of P2K 102. Portionsof P2K 102 can be reflective material for safety.

Upper torso harness 110 includes backpack assembly 112 with shoulderstraps 114 and upper back straps 116. Backpack assembly 112 can includea combination of durable materials such as textured nylon, polyurethanecoated polyester, and rigid plastic or polymer inserts, as well aselastic material and webbing material. Backpack assembly 112 can be madewith an air mesh material with openings to allow for airflow on the backand reduce the overall weight. Backpack assembly 112 covers a portion ofthe back area of user 100 to improve ergonomics and comfort, relievelower back pressure, and ease of donning and doffing. Shoulder straps114 extend over the shoulder and affix to backpack assembly 112 withsewing, rivets, belt, buckles, buttons, snaps, hooks, adhesive, Velcro®,or other secure attachment mechanism. Shoulder straps 114 are made withelastic material or webbing material and can slide, loosen, or tightenrelative to backpack assembly 112 for user comfort and adapting tomovement. Buckle 117 in shoulder straps 114 provides adjustment andattachment points. Buckle 117 snaps to lock and enable P2K 102 to fitdifferent body sizes.

Backpack assembly 112 includes differential assembly 118 to enablenormal gait activity for user 100, without resistance or discomfort fromP2K 102, discussed further infra. Upper back straps 116 continue fromshoulder straps 114 to an upper portion of differential assembly 118.Lower back straps 120 extends over the gluteal area and connects todifferential assembly 118 with sewing, rivets, belt, buckles, buttons,snaps, hooks, adhesive, Velcro®, or other secure attachment mechanism.Lower back straps 120 slides or moves relative to backpack assembly 112to enable or minimize medial/lateral relative motion and providepre-tensioning. Shoulder straps 114 anchor to backpack assembly 112, andside straps 122 extend from backpack assembly 112 under the arms andalong the side torso above the hip of user 100 to backpack assembly 112or lower back straps 120. Side straps 122 can include elastic materialwith buckles 124 for adjustments and comfort.

Leg strap arrangement 128 extends down the legs of user 100. Leg straps128 include hamstring portion 128 a (continuation of lower back straps120) over the hamstrings of user 100, knee portion 128 b over the frontof the knee area, and calf portion 128 c over the calf area. Hamstringportion 128 a connects to lower back straps 120 a (left side) and 120 b(right side) with sewing, rivets, belt, buckles, buttons, snaps, hooks,adhesive, Velcro®, or other secure attachment mechanism. Seat strap orwebbing 126 is connected to lower back straps 120 a-120 b with sewing,rivets, belt, buckles, buttons, snaps, hooks, adhesive, Velcro®, orother secure attachment mechanism. Seat strap 126 is an elastic orwebbing material for storing and releasing power and comfortable loaddistribution. Knee portion 128 b includes knee pads 130 for padding andprotection of the knee while kneeling on the ground. Knee portion 128Bprovides an anchor point during energy storage and return while usingP2K 102. In particular, knee pad 130 opens or splits along vertical orangled seam 132 and closes with buttons, snaps, hooks, Velcro®, or othersecure attachment mechanism for ease of donning and doffing P2K 102. Legstraps 128 utilize the bending motion of the knee for maximum stretchingof the elastic bands. Calf portion 128 c includes strap 136 extendingdown the tibia and strap cuff 138 over the calf. Strap 138 closes withbuttons, hooks, snaps, Velcro®, cuff, or other secure attachmentmechanism. FIG. 1 a shows knee pad 130 and strap cuff 138 in the closedposition. FIG. 2 shows knee pad 130 and strap cuff 138 in the openposition. The combination of shoulder strap buckle 117, split knee pads130, and calf strap cuff 138 provide for ease of donning and doffing P2K102.

The various straps and belts in FIGS. 1 a-1 c can be implemented usingfabric or leather material, elastic bands, cables, or other suitableflexible connecting members. P2K 102 stores potential energy in thestrapping arrangement, e.g., the elastic strapping stretches and storespotential energy when transitioning from a standing position to acrouched, squatting, or seated position. The potential energy in P2K 102remains available while user 100 is seated to help with the opposingmotion, i.e., standing up under load. When user 100 stands up from theseated position under load, the potential energy in P2K 102 is releasedto assist the user in the upward motion. P2K 102 reduces the effort,strain, fatigue, and potential for injury associated with such movementin physical labor work environments.

Consider user 100 wearing P2K 102 in a crouching or kneeling position topick up load 144 in FIGS. 3 a-3 b . P2K 102 stores potential energy inthe strapping arrangement, e.g., the elastic strapping stretches andstores potential energy when transitioning from a standing position to acrouching, kneeling, or seated position. The potential energy in P2K 102remains available while user 100 is crouching to help with the opposingmotion, i.e., standing up under load 144. User 100 stands up from thecrouching position with load 144 in FIG. 3 c . The potential energy inP2K 102 is released when user 100 moves from the crouching, kneeling, orseated position to return upright in stance, thereby assisting the userin the motion, particularly while under load. P2K 102 reduces theeffort, strain, fatigue, and potential for injury associated with suchmovement in physical labor work environments. In one embodiment, kneepad 130 includes a torsional spring to aid with transition from aseated, kneeling, or crouched position to a standing position, withoutthe use of active components. Alternatively, knee pad 130 uses elasticbands, or a combination of non-elastic and elastic bands, to assist user100 in the sit to stand transition.

FIG. 4 illustrates another view of a portion of P2K 102 as upper torsoharness 110, and in particular with differential assembly 118 connectedto upper back straps 116 along horizontal bar 150 and left lower backstrap 120 a and right lower back strap 120 b along horizontal bar 160.In this embodiment, differential assembly 118 is configured as an x-barto provide support, stretch, and resistance when legs are moved together(crouch and lift), and free motion when legs are moved opposite orindependently (gait). When user 100 squats or bends at the waist orknees, the straps of P2K 102 are lengthened. P2K 102 provides assistanceby resisting the squatting or bending motions in that straps are on theside of the joint (knee or hip) that lengthens when the joint goes fromstraight to a bent position. In particular, x-bar type differentialassembly 118 includes horizontal bar 150 secured to upper back straps116 or backpack assembly 112 with anchor 152, as shown in FIG. 5 a .Strings or cables 154 and 156 are anchored to bar 150 at points 158 aand 158 b to make the x-bar. Cables 154 and 156 are routed to horizontalbar 160 and around revolute joints 162 a and 162 b to anchor 164.Horizontal bar 160 is secured to lower back straps 120 a-120 b atrevolute joints 166 a and 166 b.

Differential assembly 118 allows the independent or opposite motion ofthe left and right lower back straps 120 a-120 b, i.e., during normalgait activity, but does not allow motion through the differentialassembly of the left lower back strap 120 a and right lower back strap120 b in the same direction, i.e., while squatting or lifting. In otherwords, differential assembly 118 shifts or tilts in position foropposite motion of the left and right lower back straps 120 a-120 b(gait), and is held in place by symmetric loading when the right leg andleft leg both move up or down together in the same direction withrespect to anchor 152 (squat or lift). If the left and right lower backstraps 120 a-120 b move up or down together, e.g., in squatting orlifting motion, then a motion and force is transmitted throughdifferential assembly 118 to stretch P2K 102 for the human motionassistance, as described above and shown in FIG. 5 a.

During a first phase of gait, the left leg reaches out and pulls down onthe left lower back strap 120 a while the right leg lags allowing theright lower back strap 120 b to go up, as shown in FIG. 5 b . In asecond phase of gait, the right leg reaches out and pulls down on theright lower back strap 120 b while the left leg lags allowing the leftlower back strap 120 a to go up, as shown in FIG. 5 c . It is preferableto not activate or stretch P2K 102 during gait, which inducesunnecessary resistance and would be uncomfortable to user 100.Differential assembly 118 achieves this purpose by allowing the leftlower back strap 120 a to move down while the right lower back strap 120b moves up, as in FIG. 5 b , or the left lower back strap 120 a to moveup while the right lower back strap 120 b moves down, as in FIG. 5 c ,without activating or stretching P2K 102. When the right or left lowerback strap 120 a-120 b is moved independently or in opposite directions,force is not transmitted through differential assembly 118 to anchor152. The relative amount of motion between the left and right lower backstrap 120 a-120 b through differential assembly 118 can be the same,i.e., the right moves up by distance D1 and the left moves down by thesame distance D1. If differently proportioned, the right moves up bydistance D1 and the left moves down by distance D2 different from D1, orone side can move while the other remains stationary. Accordingly,differential assembly 118 reduces resistance from the stretching of P2K102 while walking, which would be uncomfortable to user 100.

Differential assembly 118 can be implemented using a variety ofembodiments. In FIG. 6 a , differential assembly 118 is implemented aslever arm 170, which is attached to upper back straps 116 at revolutejoint 172, left lower back strap 120 a at revolute joint 174, and rightlower back strap 120 b at revolute joint 176. If the left and rightlower back strap 120 a-120 b move up or down together, e.g., crouch tolift, then lever arm 170 remains level (does not pivot or rotate) andthe motion is transferred through the lever arm to stretch P2K 102 forthe human motion assistance described above. During gait, when the leftlower back strap 120 a moves down and the right lower back strap 120 bmoves up, then lever arm 170 rotates about revolute joints 172, 174, and176, see FIG. 6 b . The left side of lever arm 170 moves down with theleft lower back strap 120 a, and the right side of lever arm 170 movesup with the right lower back strap 120 b. When the left lower back strap120 a moves up and the right lower back strap 120 b moves down, thenlever arm 170 rotates about revolute joints 172, 174, and 176, see FIG.6 c . The left side of lever arm 170 moves up with the left lower backstrap 120 a, and the right side of lever arm 170 moves down with theright lower back strap 120 b.

In FIG. 7 , differential assembly 118 is implemented as pulley 180,which is attached to upper back straps 116 at revolute joint 182. Cable184 is routed over pulley 180 and attached to the left lower back strap120 a and right lower back strap 120 b. If the left and right lower backstrap 120 a-120 b move up or down together, e.g., crouching to lift, themotion is transferred through pulley 180 (left side of cable 184 doesnot move relative to the right side of the cable) to stretch P2K 102 forthe human motion assistance. During gait, when the left lower back strap120 a moves down and the right lower back strap 120 b moves up, thenpulley 180 and cable 184 rotate about revolute joint 182. The left sideof cable 184 moves down with the left lower back strap 120 a, and theright side of cable 184 moves up with the right lower back strap 120 b.When the left lower back strap 120 a moves up and the right lower backstrap 120 b moves down, then pulley 180 and cable 184 rotate aboutrevolute joint 182. The left side of cable 184 moves up with the leftlower back strap 120 a, and the right side of cable 184 moves down withthe right lower back strap 120 b.

In FIG. 8 , differential assembly 118 is implemented as gear system 200,which uses gears 202, 204, and 206 attached to upper back straps 116 atrevolute joints 208, 210, and 212, respectively. Cable 216 is routedover gear 202, under gear 206, and over gear 204, and attached to theleft lower back strap 120 a and right lower back strap 120 b. If theleft and right lower back strap 120 a-120 b move up or down together,e.g., squatting to lift, the motion is transferred through gear system200 (left side of cable 216 does not move relative to the right side ofthe cable) to stretch P2K 102 for the human motion assistance. Duringgait, when the left lower back strap 120 a moves down and the rightlower back strap 120 b moves up, then gears 202-206 and cable 216 rotateabout revolute joints 208-212. The left side of cable 216 moves downwith the left lower back strap 120 a, and the right side of cable 216moves up with the right lower back strap 120 b. When the left lower backstrap 120 a moves up and the right lower back strap 120 b moves down,then gears 202-206 and cable 216 rotate about revolute joints 208-212.The left side of cable 216 moves up with the left lower back strap 120a, and the right side of cable 216 moves down with the right lower backstrap 120 b.

In FIG. 9 , differential assembly 118 is implemented as channel or tube220, which is attached to upper back straps 116. Cable 224 is routedthrough tube 220 and attached to the left lower back strap 120 a andright lower back strap 120 b. If the left and right lower back strap 120a-120 b move up or down together, e.g., squatting to lift, the motion istransferred through tube 220 (left side of cable 224 does not moverelative to the right side of the cable) to stretch P2K 102 for thehuman motion assistance. During gait, when the left lower back strap 120a moves down and the right lower back strap 120 b moves up, then cable224 moves through tube 220 to the left. The left side of cable 184 movesdown with the left lower back strap 120 a, and the right side of cable184 moves up with the right lower back strap 120 b. When the left lowerback strap 120 a moves up and the right lower back strap 120 b movesdown, then cable 224 moves through tube 220 to the right. The left sideof cable 184 moves up with the left lower back strap 120 a, and theright side of cable 184 moves down with the right lower back strap 120b.

FIG. 10 a shown an embodiment with x-bar differential assembly 230 andbuckles 232 around leg straps 128. In this case, lower back strap 120 ais connected to right side of bar 234 and lower back strap 120 b isconnected to the left side of bar 234. Buckles 232 are described in U.S.patent application Ser. No. 16/655,221, entitled Preloaded PersonalAugmentation Suit and method for Assisted Human Motion, which isincorporated herein by reference. FIGS. 10 b-10 c shows differentialassembly 230 during gait, similar to FIGS. 5 b-5 c . If the left andright lower back strap 120 a-120 b move up or down together, e.g.,squatting to lift, the motion is transferred through differentialassembly 230 to stretch P2K 102 for the human motion assistance. Duringgait, when the left lower back strap 120 a moves down and the rightlower back strap 120 b moves up, then the right side of bar 234 movesdown with the left lower back strap 120 a, and the left side of bar 234moves up with the right lower back strap 120 b, see FIG. 10 b . When theleft lower back strap 120 a moves up and the right lower back strap 120b moves down, then the right side of bar 2348 moves up with the leftlower back strap 120 a, and the left side of bar 234 moves down with theright lower back strap 120 b, see FIG. 10 c.

While one or more embodiments of the present invention have beenillustrated in detail, the skilled artisan will appreciate thatmodifications and adaptations to those embodiments may be made withoutdeparting from the scope of the present invention as set forth in thefollowing claims.

What is claimed:
 1. A human assistance device, comprising: an uppertorso harness configured to attach to a user; a differential assemblyattached to the upper torso harness; and a leg strap arrangementattached to the differential assembly, wherein the upper torso harnessand leg strap arrangement are passive.
 2. The human assistance device ofclaim 1, wherein the differential assembly includes an x-bar, lever arm,pulley, gears, or tube.
 3. The human assistance device of claim 1,wherein the differential assembly includes: a first horizontal barattached to the upper torso harness; a second horizontal bar attached tothe leg strap arrangement; a first cable connected between the firsthorizontal bar and second horizontal bar; and a second cable connectedbetween the first horizontal bar and second horizontal bar to cross overthe first cable.
 4. The human assistance device of claim 1, wherein theupper torso harness includes a shoulder strap and upper back strapsconnected to the differential assembly.
 5. The human assistance deviceof claim 1, wherein the leg strap arrangement includes: a lower backstrap attached to the differential assembly; and a knee pad adapted tocover a knee of the user.
 6. The human assistance device of claim 1,wherein the leg strap arrangement includes an elastic material.
 7. Ahuman assistance device, comprising: an upper torso harness with upperback straps configured to attach to a user; a leg strap arrangement withlower back straps configured to attach to the user; and a differentialassembly connected between the upper back straps and lower back strapsto reduce resistance of the upper torso harness and leg straparrangement during gait.
 8. The human assistance device of claim 7,wherein the differential assembly includes an x-bar, lever arm, pulley,gears, or tube.
 9. The human assistance device of claim 7, wherein thedifferential assembly includes: a first horizontal bar attached to theupper back straps; a second horizontal bar attached to the lower backstraps; a first cable connected between the first horizontal bar andsecond horizontal bar; and a second cable connected between the firsthorizontal bar and second horizontal bar to cross over the first cable.10. The human assistance device of claim 7, wherein the leg straparrangement includes a knee pad adapted to cover a knee of the user. 11.The human assistance device of claim 10, wherein the knee pad opensalong a segment.
 12. The human assistance device of claim 7, wherein theupper torso harness includes a shoulder strap and buckle.
 13. The humanassistance device of claim 7, wherein the leg strap arrangement includesan elastic material.
 14. A method of making a human assistance device,comprising: providing an upper torso harness with upper back strapsconfigured to attach to a user; providing a leg strap arrangement withlower back straps configured to attach to a user; and providing adifferential assembly connected between the upper back straps and lowerback straps to reduce resistance of the upper torso harness and legstrap arrangement during gait.
 15. The method of claim 14, wherein thedifferential assembly includes an x-bar, lever arm, pulley, gears, ortube.
 16. The method of claim 14, wherein providing the differentialassembly includes: providing a first horizontal bar attached to theupper back straps; providing a second horizontal bar attached to thelower back straps; providing a first cable connected between the firsthorizontal bar and second horizontal bar; and providing a second cableconnected between the first horizontal bar and second horizontal bar tocross over the first cable.
 17. The method of claim 14, whereinproviding the leg strap arrangement includes providing a knee padadapted to cover a knee of the user.
 18. The method of claim 17, whereinthe knee pad opens along a segment.
 19. The method of claim 14, whereinproviding the upper torso harness includes providing a shoulder strapand buckle.
 20. The method of claim 14, wherein the leg straparrangement includes an elastic material.